List of Contributors xvii
Preface xxi
1 Introduction to AC Motor Control 1
Marc Bodson and Fouad Giri
1.1 AC Motor Features 1
1.2 Control Issues 3
1.3 Book Overview 8
Part One Control Models for AC Motors
2 Control Models for Induction Motors 17
Abderrahim El Fadili, Fouad Giri, and Abdelmounime El Magri
2.1 Introduction 17
2.2 Induction MotorsA Concise Description 18
2.3 Triphase Induction Motor Modeling 20
2.4 Identification of Induction Motor Parameters 32
2.5 Conclusions 39
References 39
3 Control Models for Synchronous Machines 41
Abdelmounime El Magri, Fouad Giri, and Abderrahim El Fadili
3.1 Introduction 41
3.2 Synchronous Machine Structures 42
3.3 Preliminaries 43
3.4 Dynamic Modeling of Wound-Rotor Synchronous Motors 45
3.5 Permanent-Magnet Synchronous Machine Modeling 50
3.6 Conclusions 55
References 56
Part Two Observer Design Techniques for AC Motors
4 State Observers for Estimation Problems in Induction Motors 59
Gildas Besancon and Alexandru Ticlea
4.1 Introduction 59
4.2 Motor Representation and Estimation Issues 60
4.3 Some Observer Approaches 63
4.4 Some Illustration Results 66
4.5 Conclusions 75
References 76
5 State Observers for Active Disturbance Rejection in Induction Motor Control 78
Hebertt Sira Ramirez, Felipe Gonzalez Montanez, John Cortes Romero, and Alberto Luviano-Juarez
5.1 Introduction 78
5.2 A Two-Stage ADR Controller Design for the Induction Motor 80
5.3 Field-Oriented ADR Armature Voltage Control 90
5.a Appendix 99
5.a.1 Generalities on Ultra-Models and Observer-Based Active Disturbance Rejection Control 99
5.a.2 Assumptions 99
5.a.3 Observing the uncertain System through the Ultra-Model 101
5.a.4 The Observer-Based Active Disturbance Rejection Controller 102
References 103
6 Observers Design for Systems with Sampled Measurements, Application to AC Motors 105
Vincent Van Assche Philippe Dorleans Jean-Francois Massieu and Tarek Ahmed-Ali
6.1 Introduction 105
6.2 Nomenclature 106
6.3 Observer Design 107
6.4 Application to the AC Motor 114
6.5 Conclusions 121
References 121
7 Experimental Evaluation of Observer Design Technique for Synchronous Motor 123
Malek Ghanes and Xuefang Lin Shi
7.1 Introduction 123
7.2 SPMSM Modeling and its Observability 125
7.3 Robust MRAS Observer 125
7.4 Experimental Results 129
7.5 Conclusions 133
References 134
Part Three Control Design Techniques for Induction Motors
8 High-Gain Observers in Robust Feedback Control of Induction Motors 139
Hassan K. Khalil and Elias G. Strangas
8.1 Chapter Overview 139
8.2 Field Orientation 140
8.3 High-Gain Observers 144
8.4 Speed and Acceleration Estimation using High-Gain Observers 146
8.5 Flux Control 149
8.6 Speed Control with Mechanical Sensor 151
8.7 Speed Control without Mechanical Sensor 153
8.8 Simulation and Experimental Results 156
8.9 Conclusions 157
References 157
9 Adaptive Output Feedback Control of Induction Motors 158
Riccardo Marino, Patrizio Tomei, and Cristiano Maria Verrelli
9.1 Introduction 158
9.2 Problem Statement 159
9.3 Nonlinear Estimation and Tracking Control for Sensorless Induction Motors 161
9.4 Nonlinear Estimation and Tracking Control for the Output Feedback Case 175
9.5 Simulation Results 176
9.6 Conclusions 186
References 186
10 Nonlinear Control for Speed Regulation of Induction Motor with Optimal Energetic Efficiency 188
Abderrahim El Fadili, Abdelmounime El Magri, Hamid Ouadi, and Fouad Giri
10.1 Introduction 188
10.2 Induction Motor Modeling with Saturation Effect Inclusion 190
10.3 Controller Design 194
10.4 Simulation 202
10.5 Conclusions 205
References 205
11 Experimental Evaluation of Nonlinear Control Design Techniques for Sensorless Induction Motor 207
Jesus De Leon, Alain Glumineau, Dramane Traore, and Robert Boisliveau
11.1 Introduction 207
11.2 Problem Formulation 208
11.3 Robust Integral Backstepping 209
11.4 High-Order Sliding-Mode Control 212
11.5 Adaptive Interconnected Observers Design 215
11.6 Experimental Results 218
11.7 Robust Nonlinear Controllers Comparison 228
11.8 Conclusions 231
References 231
12 Multiphase Induction Motor Control 233
Roberto Zanasi and Giovanni Azzone
12.1 Introduction 233
12.2 Power-Oriented Graphs 234
12.3 Multiphase Induction Motor Complex Dynamic Modeling 236
12.4 Multiphase Indirect Field-Oriented Control with Harmonic Injection 243
12.5 Conclusions 251
References 251
13 Backstepping Controller for DFIM with Bidirectional AC/DC/AC Converter 253
Abderrahim El Fadili, Vincent Van Assche, Abdelmounime El Magri, and Fouad Giri
13.1 Introduction 253
13.2 Modeling AC/DC/AC ConverterDoubly-Fed Induction Motor Association 255
13.3 Controller Design 260
13.4 Simulation Results 269
13.5 Conclusions 273
References 273
14 Fault Detection in Induction Motors 275
Alessandro Pilloni, Alessandro Pisano, Martin Riera-Guasp, Ruben Puche-Panadero, and Manuel Pineda-Sanchez
14.1 Introduction 275
14.2 Description and Classification of IMs Faults 276
14.3 Model-Based FDI in IMs 280
14.4 Classical MCSA Based on the Fast Fourier Transform 287
14.5 Hilbert Transform 289
14.6 Discrete Wavelet Transform Approach 292
14.7 Continuous Wavelet Transform Approach 298
14.8 Wigner-Ville Distribution Approach 300
14.9 Instantaneous Frequency Approach 304
References 307
Part Four Control Design Techniques for Synchronous Motors
15 Sensorless Speed Control of PMSM 313
Dhruv Shah, Gerardo EspinosaPerez, Romeo Ortega, and Michael Hilairet
15.1 Introduction 313
15.2 PMSM Models and Problem Formulation 314
15.3 Controller Structure and Main Result 316
15.4 Unavailability of a Linearization-Based Design 318
15.5 Full Information Control 319
15.6 Position Observer of Ortega et al. (2011) 322
15.7 An I&I Speed and Load Torque Observer 324
15.8 Proof of the Main Result 328
15.9 Simulation and Experimental Results 332
15.10 Future Research 337
15.a Appendix 339
References 340
16 Adaptive Output-Feedback Control of Permanent-Magnet Synchronous Motors 341
Patrizio Tomei and Cristiano Maria Verrelli
16.1 Introduction 341
16.2 Dynamic Model and Problem Statement 343
16.3 Nonlinear Adaptive Control 344
16.4 Preliminary Result (Tomei and Verrelli 2008) 347
16.5 Main Result (Tomei and Verrelli 2011) 353
16.6 Simulation Results (Bifaretti et al. 2012) 357
16.7 Experimental Setup and Results (Bifaretti et al. 2012) 364
16.8 Conclusions 367
References 368
17 Robust Fault Detection for a Permanent-Magnet Synchronous Motor Using a Nonlinear Observer 370
Maria Letizia Corradini, Gianluca Ippoliti, and Giuseppe Orlando
17.1 Introduction 370
17.2 Preliminaries 371
17.3 Control Design 372
17.4 The Faulty Case 375
17.5 Simulation Tests 376
References 380
18 On Digitization of Variable Structure Control for Permanent Magnet Synchronous Motors 381
Yong Feng, Xinghuo Yu, and Fengling Han
18.1 Introduction 381
18.2 Control System of PMSM 382
18.3 Dynamic Model of PMSM 383
18.4 PI Control of PMSM Servo System 384
18.5 High-Order Terminal Sliding-Mode Control of PMSM Servo System 385
18.6 Sliding-Mode-Based Mechanical Resonance Suppressing Method 388
18.7 Digitization of TSM Controllers of PMSM Servo System 393
18.8 Conclusions 396
References 396
19 Control of Interior Permanent Magnet Synchronous Machines 398
Faz Rahman and Rukmi Dutta
19.1 Introduction 398
19.2 IPM Synchronous Machine Model 401
19.3 Optimum Control Trajectories 408
19.4 Sensorless Direct Torque Control of IPM Synchronous Machines 412
19.5 Sensorless DTC with Closed-Loop Flux Estimation 420
19.6 Sensorless Operation at Very Low Speed with High-Frequency Injection 423
19.7 Conclusions 426
References 427
20 Nonlinear State-Feedback Control of Three-Phase Wound Rotor Synchronous Motors 429
Abdelmounime El Magri, Vincent Van Assche, Abderrahim El Fadili, Fatima-Zahra Chaoui, and Fouad Giri
20.1 Introduction 429
20.2 System Modeling 431
20.3 Nonlinear Adaptive Controller Design 435
20.4 Simulation 446
20.5 Conclusion 450
References 450
Part Five Industrial Applications of AC Motors Control
21 AC Motor Control Applications in Vehicle Traction 455
Faz Rahman and Rukmi Dutta
21.1 Introduction 455
21.2 Machines and Associated Control for Traction Applications 464
21.3 Power Converters for AC Electric Traction Drives 475
21.4 Control Issues for Traction Drives 478
21.5 Conclusions 485
References 486
22 Induction Motor Control Application in High-Speed Train Electric Drive 487
Jarosaw Guzinski, Zbigniew Krzeminski, Arkadiusz Lewicki, Haitham Abu-Rub, and Marc Diguet
22.1 Introduction 487
22.2 Description of the High-Speed Train Traction System 488
22.3 Estimation Methods 494
22.4 Simulation Investigations 497
22.5 Experimental Test Bench 497
22.6 Experimental Investigations 501
22.7 Diagnosis System Principles 503
22.8 Summary and Perspectives 505
References 506
23 AC Motor Control Applications in High-Power Industrial Drives 509
Ajit K. Chattopadhyay
23.1 Introduction 509
23.2 High-Power Semiconductor Devices 510
23.3 High-Power Converters for AC Drives and Control Methods 515
23.4 Control of Induction Motor Drives 517
23.5 Control of Synchronous Motor Drives 534
23.6 Application Examples of Control of High-Power AC Drives 539
23.7 New Developments and Future Trends 548
23.8 Conclusions 548
References 549
Index 553
